Inertial Motion Tracking Technology for Inserting Humans Into a Networked Synthetic Environment PDF Download
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Author:
Publisher:
ISBN:
Category :
Languages : en
Pages : 6
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Book Description
A novel hybrid inertial and magnetic human body motion tracking system was developed for inserting humans into virtual environments. The system is composed of two main components: in-house designed MARG sensors and a complementary data processing filter. Each MARG sensor is a nine-axis sensor consisting of a three-axis magnetometer a three-axis angular rate sensor: and a three-axis accelerometer and offers one-degree accuracy which is sufficient for human body motion tracking. The complementary filter is based on quaternions avoiding orientation singularities associated with Euler angles, and significantly reducing the computational requirements by not using any trigonometric functions. The filter is designed to take advantage of complementary information provided by high frequency angular rate data and low frequency magnetometer and accelerometer data. A tracking system with three MARG sensors was prototyped and demonstrated. Testing results indicated that the system offers superior performance compared with commercially available products. A patent on the MARG tracking system was filed in October 2001.
Author:
Publisher:
ISBN:
Category :
Languages : en
Pages : 6
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Book Description
A novel hybrid inertial and magnetic human body motion tracking system was developed for inserting humans into virtual environments. The system is composed of two main components: in-house designed MARG sensors and a complementary data processing filter. Each MARG sensor is a nine-axis sensor consisting of a three-axis magnetometer a three-axis angular rate sensor: and a three-axis accelerometer and offers one-degree accuracy which is sufficient for human body motion tracking. The complementary filter is based on quaternions avoiding orientation singularities associated with Euler angles, and significantly reducing the computational requirements by not using any trigonometric functions. The filter is designed to take advantage of complementary information provided by high frequency angular rate data and low frequency magnetometer and accelerometer data. A tracking system with three MARG sensors was prototyped and demonstrated. Testing results indicated that the system offers superior performance compared with commercially available products. A patent on the MARG tracking system was filed in October 2001.
Author:
Publisher:
ISBN:
Category :
Languages : en
Pages : 75
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Book Description
Inertial/Magnetic tracking is based on the use of sensors containing three orthogonally mounted angular rate sensors, three orthogonal linear accelerometers and three orthogonal magnetometers to determine independently the orientation of each link of an articulated rigid body. Inertial/magnetic orientation tracking could be applied to a broad range of problems which require real-time tracking of an articulated structure without being continuously dependent upon an artificially generated source. This research focuses on the goal of developing and demonstrating wireless full body tracking using MARG sensor modules. During the period of this report, six manuscripts were submitted for peer-reviewed publication. Of these six, five have been accepted. These include three journal publications and two conference papers. In additions, scientific advances have been made in the following areas: * Study of the Magnetic Effects on Inertial/Magnetic Sensor Modules * Development of a singularity free Factored Quaternion Algorithm * Development of an advanced Kalman Filter for Inertial/Magnetic Body Tracking *Initial development in using inertial/magnetic sensors for position tracking.
Author: Eric Robert Bachmann
Publisher:
ISBN: 9781423532248
Category :
Languages : en
Pages : 199
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Book Description
Current motion tracking technologies fail to provide accurate wide area tracking of multiple users without interference and occlusion problems. This research proposes to overcome current limitations using nine-axis magnetic/ angular/rate/gravity (MARG) sensors combined with a quaternion-based complementary filter algorithm capable of continuously correcting for drift and following angular motion through all orientations without singularities. Primarily, this research involves the development of a prototype tracking system to demonstrate the feasibility of MARG sensor body motion tracking Mathematical analysis and computer simulation are used to validate the correctness of the complementary filter algorithm The implemented human body model utilizes the world-coordinate reference frame orientation data provided in quaternion form by the complementary filter and orients each limb segment independently. Calibration of the model and the inertial sensors is accomplished using simple but effective algorithms. Physical experiments demonstrate the utility of the proposed system by tracking of human limbs in real-time using multiple MARG sensors. The system is "sourceless" and does not suffer from range restrictions and interference problems. This new technology overcomes the limitations of motion tracking technologies currently in use. It has the potential to provide wide area tracking of multiple users in virtual environment and augmented reality applications.
Author:
Publisher:
ISBN:
Category : Computer graphics
Languages : en
Pages : 228
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Book Description
Author: Thurmon Lockhart
Publisher: MDPI
ISBN: 3039363441
Category : Medical
Languages : en
Pages : 392
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Book Description
In recent years, many technologies for gait and posture assessments have emerged. Wearable sensors, active and passive in-house monitors, and many combinations thereof all promise to provide accurate measures of physical activity, gait, and posture parameters. Motivated by market projections for wearable technologies and driven by recent technological innovations in wearable sensors (MEMs, electronic textiles, wireless communications, etc.), wearable health/performance research is growing rapidly and has the potential to transform future healthcare from disease treatment to disease prevention. The objective of this Special Issue is to address and disseminate the latest gait, posture, and activity monitoring systems as well as various mathematical models/methods that characterize mobility functions. This Special Issue focuses on wearable monitoring systems and physical sensors, and its mathematical models can be utilized in varied environments under varied conditions to monitor health and performance
Author: William Frey
Publisher:
ISBN: 9781423574651
Category :
Languages : en
Pages : 170
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Book Description
Human body tracking for synthetic environment interface has become a significant human- computer interface challenge. There are several different types of motion capture systems currently available. Inherent problems, most resulting from the use of artificially-generated source signals, plague these systems. A proposed motion capture system is being developed at the Naval Postgraduate School which utilizes a combination of inertial sensors to overcome these difficulties. However, the current design exhibits azimuth drift errors resulting from the use of inertial sensors. This thesis proposes a new method of compensating for azimuth drift using a three-axis fluxgate magnetometer. The magnetometer capable of azimuth drift compensation since its sensitive axis is not collinear with the local vertical. This thesis includes a program for simulating the operation of a fluxgate magnetometer in C++. The included C++ code simulates a fluxgate magnetometer and provides an estimate of azimuth based on the magnetometer's output which is typically within five degrees of the actual azimuth. Real magnetometer data for testing and verification was accomplished by bench testing a real fluxgate magnetometer.
Author: Peter A. Hancock
Publisher: CRC Press
ISBN: 1420072846
Category : Computers
Languages : en
Pages : 470
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Book Description
Discussing issues and concepts relating to human factors in simulation, this book covers theory and application in fields such as space, ships, submarines, naval aviation, and commercial aviation. The authors develop and expand on concepts in simulator usage particularly specific characteristics and issues of simulation and their effect on the validity and functionality of simulators as a training device. The chapters contain in depth discussions of these particular characteristics and issues. They also incorporate theories pertaining to the motivational aspects of training, simulation of social events, and PC based simulation.
Author: Richard Duro
Publisher: CRC Press
ISBN: 1000795330
Category : Technology & Engineering
Languages : en
Pages : 363
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Book Description
This book provides an overview of a series of advanced research lines in robotics as well as of design and development methodologies for intelligent robots and their intelligent components. It represents a selection of extended versions of the best papers presented at the Seventh IEEE International Workshop on Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications IDAACS 2013 that were related to these topics. Its contents integrate state of the art computational intelligence based techniques for automatic robot control to novel distributed sensing and data integration methodologies that can be applied to intelligent robotics and automation systems. The objective of the text was to provide an overview of some of the problems in the field of robotic systems and intelligent automation and the approaches and techniques that relevant research groups within this area are employing to try to solve them.The contributions of the different authors have been grouped into four main sections:• Robots• Control and Intelligence• Sensing• Collaborative automationThe chapters have been structured to provide an easy to follow introduction to the topics that are addressed, including the most relevant references, so that anyone interested in this field can get started in the area.
Author: National Research Council
Publisher: National Academies Press
ISBN: 0309051355
Category : Computers
Languages : en
Pages : 557
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Book Description
Despite widespread interest in virtual reality, research and development efforts in synthetic environments (SE)â€"the field encompassing virtual environments, teleoperation, and hybridsâ€"have remained fragmented. Virtual Reality is the first integrated treatment of the topic, presenting current knowledge along with thought-provoking vignettes about a future where SE is commonplace. This volume discusses all aspects of creating a system that will allow human operators to see, hear, smell, taste, move about, give commands, respond to conditions, and manipulate objects effectively in a real or virtual environment. The committee of computer scientists, engineers, and psychologists on the leading edge of SE development explores the potential applications of SE in the areas of manufacturing, medicine, education, training, scientific visualization, and teleoperation in hazardous environments. The committee also offers recommendations for development of improved SE technology, needed studies of human behavior and evaluation of SE systems, and government policy and infrastructure.
Author: Ya Tian
Publisher:
ISBN:
Category :
Languages : en
Pages : 133
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Book Description
This thesis comprises three specific goals using our developed IMU board and the camera from the imaging source company: (1) to develop a robust and real-time orientation algorithm using only the measurements from IMU; (2) to develop a robust distance estimation in static free-living environments to estimate people's position and navigate people in static free-living environments and simultaneously the scale ambiguity problem, usually appearing in the monocular camera tracking, is solved by integrating the data from the visual and inertial sensors; (3) in case of moving objects viewed by the camera existing in free-living environments, to firstly design a robust scene segmentation algorithm and then respectively estimate the motion of the vIMU system and moving objects.
